Table of Contents
Summary of Contents for OMS MAXnet
- Page 1 USER’S MANUAL INTELLIGENT MOTION CONTROLLER FOR ETHERNET MAXnet OMS Motion, Inc. 15201 NW GREENBRIER PARKWAY B-1 RIDGEVIEW BEAVERTON, OR 97006 PHONE 503-629-8081 FAX 503-629-0688 mailto:support@omsmotion.com http://www.omsmotion.com/...
- Page 2 © 2013 OMS Motion, Inc. ALL RIGHTS RESERVED This document is copyrighted by OMS Motion, Inc.. You may not reproduce, transmit, transcribe, store in a retrieval system, or translate into any language in any form or by any means, electronic, mechanical, magnetic, optical, chemical, manual, or otherwise, any part of this publication without the express written permission of OMS Motion, Inc..
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Page 3: Table Of Contents
HOME PROCEDURES................4-6 4.9. ABSOLUTE ENCODERS WITH SSI .............4-8 4.10. IOMAXnet ADAPTER MODULE............4-10 5. HOST SOFTWARE..................5-1 5.1. INTRODUCTION TO MAXnet SUPPORT SOFTWARE .......5-1 6. STAND ALONE COMMANDS..............6-1 7. SERVICE 7-1 7.1. USER SERVICE ..................7-1 7.2. THEORY OF OPERATION..............7-1 8. FIRMWARE UPGRADE ................8-1 8.1. - Page 4 TABLE OF CONTENTS This page is intentionally left blank MAXnet User’s Manual...
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Page 5: General Description
The MAXnet motion controller can manage up to 10 axes of motion. For 1 through 5 axes, the MAXnet is a single board motion controller, and measures 6.5” x 4” x 0.75”. For 6 to 10 axes of motion, the MAXnet utilizes a stackable expansion board, and when combined, measures 6.5”... - Page 6 (J1). Each digital I/O bit can be set as an input or output and is controlled by firmware commands, so there are no jumpers to set. Aside from extending MAXnet for 6 through 10 axes of motion, the optional expansion board is available for extending I/O capabilites and for custom solutions.
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Page 7: Getting Started
2. GETTING STARTED 2.1. INSTALLATION For installation of the MAXnet you will need a computer with either an Ethernet or RS-232 connection or both. Read through the following two sections before beginning the installation. Do not turn on the power to the MAXnet until you have properly configured the controller per the following instructions. - Page 8 If both of these LEDs are on solid, and all other LEDs are off, the MAXnet is ready to communicate. With the MAXnet expansion board for 6 – 10 axes of motion the green LED D1 next to the J5 power connector is lit when power is applied.
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Page 9: Configuring The Card For Use With Encoders
ASCII with its model, version and serial number. The default IP address of the MAXnet is 10.40.30.60 and the port is 23. To configure the MAXnet IP address for use in your network, the IP and port addresses must be set with the appropriate commands and the settings should be archived to flash. - Page 10 Ø 0.1255 Ø 0.1255 1.84 1.84 0.390 3.125 Ø 0.1255 0.140 0.140 0.120 0.120 0.140 0.140 Ø 0.1255 Ø 0.1255 FIGURE 2-2 MAXNET DIAGRAM 0.05" overhang 0.05" overhang 0.64 0.34 0.35 Ethernet/Serial 0.40 0.48 0.29 1.01 0.50 Tyco/Amp 5788797-2 M olex 0.35...
- Page 11 All dimensions are in inches +/- 1% unless 0.25” 0.05” overhang 3.05” Molex 0.34” 0.48” 4305-0600 0.50” Tyco/Amp 5787169-9 4.0” 0.62” 0.35” 0.05” 0.34” J4 - Expansion Connection 6.5” 0.05” overhang FIGURE 2-5 MAXNET EXPANSION BOARD CONNECTOR LOCATIONS MAXnet User’s Manual...
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Page 12: Software Installation
(Select the communication parameters from the “Boards” drop-down menu.) Type WY and observe the response from the MAXnet. If you are communicating to the MAXnet it would return its version number, number of axes, FPGA version number, etc. You should receive a reply similar to “MAXn-5000, Ver: x.xx, S/N: 000001, FPGA:20”... - Page 13 Now, connect the controller signals from J1 of the MAXnet, or from IOMAXnet, if it is used, to the stepper driver. Short cable lengths and shielded cables are recommended for improved signal integrity and reduction in signal noise.
- Page 14 Ground X PHASE +A X PHASE -A X PHASE +B X PHASE -B X INDEX + X INDEX - ENCODER Figure 2-8 Example of Wiring Diagram of MAXnet Controller via the IOMAXnet Interface Module to Servo Motor MAXnet User’s Manual...
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Page 15: Connect And Checkout The Servo System
Using a voltage meter, verify that the command signal from the MAXnet is less than 500mV. If it is not, send the command “KO0;” to the MAXnet and recheck the voltage. If the voltage is still too high, contact OMS Motion, Inc.’s Technical Support department for guidance. - Page 16 1 count, this is an indication that one of the phases is not connected. Do not proceed until you perform all the steps in this procedure, ensure that the outputs of the MAXnet are as described, and ensure that the encoder is operating correctly.
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Page 17: Tune The System
The MAXnet can control either current mode or voltage mode amplifiers. The servo update rate of the MAXnet is user selectable: 976.6s, 488.3s, 244.1s, 122.1s. - Page 18 Profile distance = ((peak velocity)^2/(2acceleration))2.4 Example: ((50,000)^2/(2500,000))2.4 = 6,000 Execute the move by sending the move commands to the MAXnet. Example: MR6000; Adjust the KP term while repeating step 3 until the “Following Error” at the flat spot of the profile is acceptable.
- Page 19 Too Little KI FIGURE 2-09 If you are getting too much “ringing” in the motion profile, then increase KD to help dampen the system’s response. If, instead, the system is over-damped and is reaching the final velocity too MAXnet User’s Manual 2-13...
- Page 20 By increasing this term, the "Following Error" of the system’s response can be minimized. However, too large of a value may result in unstable behavior after command velocity changes. The values for KV range from 0 to 249.99. 2-14 MAXnet User’s Manual...
- Page 21 Actual Step Response Acceleration/Deceleration Following Error FIGURE 2-13 The block diagram below describes the feedback loop that is taking place in the servo system: PID Algorithm/ Motor and Encoder Input Amplifier Error (i.e. Position) FIGURE 2-14 FEEDBACK LOOP MAXnet User’s Manual 2-15...
- Page 22 32768, the controller will disable the PID so that you don’t have a runaway motor. In this case major changes to the PID parameters may be required. For minor differences in the encoder and the position reading you can fine-tune your PID filter according to the earlier steps. 2-16 MAXnet User’s Manual...
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Page 23: Setting The User Default Configuration
In a typical application, when the system is powered up, the main host computer would initialize all of the peripherals, such as the MAXnet, sending each of the axes the peak velocity. When the User Definable Default Parameter value is defined, then the velocities of the defined axes will be set accordingly. -
Page 24: Power Supply Requirements
50 mA 100 mA 250 mA CAUTION Maximum +5VDC power supply is 5.5 Volts. If +5VDC power supply is higher than 5.5 Volts, the MAXnet controller could be damaged. TABLE 2-4 POWER CONNECTOR J5 – 6-Pin Power Connector Signal Signal... - Page 25 POWER SUPPLY REQUIREMENTS GETTING STARTED (J5) POWER Pin 1 FIGURE 2-16 J5 POWER CONNECTOR ON MAXNET EXPANSION BOARD MAXnet User’s Manual 2-19...
- Page 26 GETTING STARTED POWER SUPPLY REQUIREMENTS This page is intentionally left blank. 2-20 MAXnet User’s Manual...
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Page 27: Communication Interface
3.1. INTRODUCTION The MAXnet can be considered a motion co-processor to the host computer where it can execute the motion process independent of the host CPU. The application software issues DLL function calls and receives requested data from the support DLL. All communication is done between the motion controller and the host PC via the DLL and the communication interface (Ethernet or RS-232). -
Page 28: Rs-232 And Tcp/Ip Flag Notification Protocol
RS-232 AND TCP/IP FLAG NOTIFICATION PROTOCOL To permit flag notification, while in TCP/IP and RS-232 modes, MAXnet will asynchronously send text strings to notify the host when status flags are set. The flag notification string will consist of an ASCII string of the form “%000 SSSSSSSS”. -
Page 29: Ascii Command Ring Buffer
C, C++, MFC or Visual Basic applications, running under Windows NT, 2000 or XP. The DLL supports communicating to MAXnet via Ethernet or Serial port and supplies a set of wrapper APIs round the more commonly used motion controller commands. From the basic Send and Query to issuing multiple axes moves can be achieved using the DLL with minimal lines of code. -
Page 30: Maxnet Communication Architecture
COMMUNICATION INTERFACE REAL-TIME POSITION CAPTURE 3.6. MAXnet COMMUNICATION ARCHITECTURE As shown in the simplified diagram below (Figure 3.1), communication between the MAXnet controller and the host application is via the Ethernet and the DLL. Application Software Requested Data DLL Function call... -
Page 31: Real-Time Position Capture
The MAXnet controller has a ring buffer in VME shared memory, which is used to transfer the real-time position capture data to the host. When a capture event is recorded by the motor update cycle routine, it transfers the capture table entry to the shared VME memory. - Page 32 The motion controller contains a PowerPC processor, which writes the data in the shared memory in big endian format. If the host processor is not a big endian processor, then appropriate byte swapping to correct for endian differences must be performed by the host processor when accessing the shared memory data. MAXnet User’s Manual...
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Page 33: Control Signal Interface
4.1. INTRODUCTION The MAXnet family of motion controllers is available in configurations from one to ten axes to manage combinations of servo and step motor systems. The 100-pin MAXnet connector incorporates all of the signals of the MAXnet. The MAXnet default configuration is as an open loop stepper controller for the number of axes ordered. - Page 34 CONTROL SIGNAL INTERFACE INTRODUCTION TABLE 4-1 OUTPUT CONNECTOR PIN LIST (J1) (MAXNET AND EXPANSION BOARD) J1 – 100-pin connector Signal Signal X / V Phase +A Y / R Phase +A X / V Phase -A Y / R Phase –A...
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Page 35: Limit Inputs
The MAXnet controller has 8 GPIO and 2 GP analog inputs. With the MAXnet expansion board used for 6 - 10 axes of motion, MAXnet has 16 GPIO and 4 GP analog inputs. MAXnet can also be customized for other I/O solutions with the MAXnet expansion board. -
Page 36: Motor Control Output
RESISTORS * The MAXnet controller has 6 analog outputs. With the MAXnet expansion board used for 6 - 10 axes of motion, MAXnet has 6 additional analog outputs. MAXnet can also be customized for other I/O solutions with the expansion board. - Page 37 Opto Ground Ground FIGURE 4-2 CONNECTION TO STEP DRIVES WITH DIFFERENTIAL MAXnet 2.2K Home/+Limit/-Limit Switch Input FIGURE 4-3 HOME LIMIT INPUT WIRING DIAGRAM MAXnet TTL output 2.2K Digital Input/Output TTL input FIGURE 4-4 DIGITAL I/O WIRING DIAGRAM MAXnet User’s Manual...
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Page 38: Encoder Feedback
At this point the MAXnet can either ramp the axis to a stop or stop the axis immediately. The control of the direction of travel, the logic active state and the response to the active switch are controlled through commands. - Page 39 CONTROL SIGNAL INTERFACE Home Switch Phase A Phase B Index FIGURE 4-5 ENCODER HOMING STATE DETECTION MAXnet Encoder Phase A PHA+ Phase B PHB+ PHB- Index INDX+ INDX - Ground FIGURE 4-6 ENCODER WIRING DIAGRAM FOR SINGLE-ENDED INPUT SIGNALS MAXnet User’s Manual...
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Page 40: Absolute Encoders With Ssi
Serial Interface) technology. By default the X and Y axes will have up to 12 bits of resolution of absolute encoding. The MAXnet can have up to 10 axes of absolute encoders and up to 32 bits of resolution per axis. The MAXnet provides a differential clock output through the I/0 port on the MAXnet board to deliver clocking to an absolute encoder. - Page 41 ABSOLUTE ENCODERS WITH SSI CONTROL SIGNAL INTERFACE Below is an example of how the absolute encoder can be connected to the MAXnet. This utilizes the IOMAXnet breakout board for easier connectivity to the absolute encoder environment. If the MAXnet expansion board was being used, an additional IOMAXnet breakout board would be needed for connectivity to the absolute encoder environment.
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Page 42: Iomaxnet Adapter Module
The optional IOMAXnet is an adapter module designed to provide easy connection for each signal of the MAXnet. It incorporates two-row terminal block. It is used with a 10 foot shielded cable to connect to the MAXnet via the 100-pin connector. The +5VDC on the IOMAX is supplied by the MAXnet. -
Page 43: Host Software
A disk containing Dlls, libraries, application software, and example code for OMS Motion, Inc. MAXnet family controllers is supplied with the purchase of a MAXnet controller. Refer to the text files on the disk for installation instructions and other information. - Page 44 HOST SOFTWARE INTRODUCTION TO MAXnet SUPPORT SOFTWARE This page intentionally left blank MAXnet User’s Manual...
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Page 45: Stand Alone Commands
This mode has several commands that can establish links to macros. When set up properly in this mode, the MAXnet can scan for a predefined I/O Input bit until it changes to the specified state. Upon sensing that this condition has been met, it will execute the permanent Macro from Non-volatile flash memory that had been previously associated or linked with this I/O bit and its state. - Page 46 STAND ALONE COMMANDS This page intentionally left blank MAXnet User’s Manual...
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Page 47: Service
7.2. THEORY OF OPERATION The MAXnet controller uses a PowerPC microprocessor for the core of its design. The highest priority process calculates the desired velocity at the selected update rate with a proprietary algorithm (patent number 4,734,847). This frequency is written to logic on board which generates the pulses for stepper motor control and/or the appropriate voltage levels for Servo Control. - Page 48 SERVICE This page intentionally left blank MAXnet User’s Manual...
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Page 49: Firmware Upgrade
MAXnEupg will verify the existence and the validity of the firmware upgrade file prior to sending any commands to the controller to erase or program flash. MAXnEupg determines whether there is firmware currently executing on the MAXnet controller. If firmware is currently executing then MAXnEupg proceeds to the next step of the upgrade process. - Page 50 FIRMWARE UPGRADE MAXnet ETHERNET MODE FIRMWARE UPGRADE The first code block is re-written with a valid MAXnet signature so that the boot block will recognize that valid firmware is loaded in the flash. A restart command is sent to the controller, causing the controller to re-boot with the new firmware.
- Page 51 Valid options are /B /P, /F. Invalid upgrade file for MAXnet serial number nnnnnn An upgrade file with a serial number lock installed did not match the MAXnet controller found. Invalid upgrade file signature! The upgrade file did not have the required signature of a valid upgrade file.
- Page 52 Serial Number verified! This message indicates that the upgrade file had a Serial Number lock installed and it was successfully verified that the specified upgrade file was valid for the MAXnet controller specified. Signature packet re-sent successfully. This message indicates the last packet with a valid firmware signature has been successfully sent to the controller flash memory.
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Page 53: Maxnet Serial Mode Firmware Upgrade
The first code block is re-written with a valid MAXnet signature so that the boot block will recognize that valid firmware is loaded in the flash. - Page 54 FIRMWARE UPGRADE MAXnet SERIAL MODE FIRMWARE UPGRADE Verify that the controller is running the new firmware by running the MAXnScom utility and sending a WY command to the controller. The WY response should indicate the version number of the upgraded firmware.
- Page 55 The parameter supplied with the /P command line option was not valid. The valid range is 1-32. Invalid upgrade file for MAXnet serial number nnnnnn An upgrade file with a serial number lock installed did not match the MAXnet controller found. Invalid upgrade file signature! The upgrade file did not have the required signature of a valid upgrade file.
- Page 56 Serial Number verified! This message indicates that the upgrade file had a Serial Number lock installed and it was successfully verified that the specified upgrade file was valid for the MAXnet controller specified. Signature packet re-sent successfully. This message indicates the last packet with a valid firmware signature has been successfully sent to the controller flash memory.
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Page 57: Limited Warranty
The Seller warrants that the articles furnished are free from defect in material and workmanship and perform to applicable, published OMS Motion, Inc. specifications for one year from date of shipment. This warranty is in lieu of any other warranty express or implied. In no event will Seller be liable for incidental or consequential damages as a result of an alleged breach of the warranty. - Page 58 LIMITED WARRANTY APPENDIX A. This page intentionally left blank MAXnet User’s Manual...
- Page 59 APPENDIX B TECHNICAL SUPPORT OMS Motion, Inc. can be reached for technical support by any of the following methods: 1. Internet E-Mail: mailto:support@omsmotion.com 2. World Wide Web: www.omsmotion.com 3. Telephone: 8:00 a.m. - 5:00 p.m. Pacific Standard Time (503) 629-8081 or (800) 707-8111 4.
- Page 60 RETURN FOR REPAIRS APPENDIX B This page intentionally left blank MAXnet User’s Manual...
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Page 61: Specifications
2559 command values and include a has up to 4 general purpose analog inputs command loop counter which allows (2 on the MAxnet controller and 2 on the multiple executions queued MAXnet expansion controller) that can be commands. used to sense Pressure Transducers, Dial Switches, etc. - Page 62 GO command. Each axis programmed to move will start together upon executing the The vector velocity is set to 1000 counts GO command. The MAXnet can be switched per second. A contour is defined back to the single-axis mode by entering the beginning at coordinates 0,0 on the X desired single axis command such as AX.
- Page 63 +/-10V and 0 to +10v, max. One per axis plus two general purpose, all are 16 bit resolution. Step pulse output Pulse width 50% duty cycle. Open collector TTL level signal. Direction output Open collector level signal (TTL) MAXnet User’s Manual...
- Page 64 S-Curve with 4-quadrant jerk parameters. Control Signals Two 100-pin SCSI type connectors for high density signal connection. 16 “user definable” digital I/O. Analog out per each axis can be used as general purpose when axis is configured for Step control. MAXnet User’s Manual...
- Page 65 APPENDIX C SPECIFICATIONS TABLE 8-1 100-PIN CONNECTOR (MAXNET) AND TERMINAL BLOCK Pin-Out (IOMAXnet) Signal Signal Signal X / V Phase +A T / W Aux Y / R Negative Limit X / V Phase -A U / K Aux Z / S Negative Limit...
- Page 66 RS-232 MAXnet-6000 User Definable MAXnet-7000 User Definable MAXnet-8000 User Definable MAXnet-9000 User Definable MAXnet-A000 User Definable CBL58-3M 100-Pin, 12 ft. cable IODnet Terminal block Breakout Module – can be stacked on MAXnet IOMAXnet 100-Pin Connector Breakout Module MAXnet User’s Manual...
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Page 67: Index
SERVO UPDATE RATE ..........................2-11 STAND ALONE COMMANDS ........................6-1 STATUS WORD 1 FLAG REGISTER WORD ACCESS OFFSET (0xfc0)......................3-5 VOLTAGE MODE ............................2-12 WIRING DIAGRAMS ........................... 4-4 WORD ACCESS OFFSET (0xfc0) STATUS WORD 1 FLAG REGISTER..................3-5 MAXnet User’s Manual...
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